BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM

Cyril Joly, Patrick Rives

2010

Abstract

Safe and efficient navigation in large-scale unknown environments remains a key problem which has to be solved to improve the autonomy of mobile robots. SLAM methods can bring the map of the world and the trajectory of the robot. Monucular visual SLAMis a difficult problem. Currently, it is solved with an Extended Kalman Filter (EKF) using the inverse depth parametrization. However, it is now well known that the EKFSLAMbecome inconsistent when dealing with large scale environments. Moreover, the classical inverse depth parametrization is over-parametrized, which can also be a cause of inconsistency. In this paper, we propose to adapt the inverse depth representation to the more robust context of smoothing and mapping (SAM).We show that our algorithm is not over-parameterized and that it gives very accurate results on real data.

Paper Citation

in Harvard Style

Joly C. and Rives P. (2010). BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 281-288. DOI: 10.5220/0002949702810288

in Bibtex Style

@conference{icinco10,
author={Cyril Joly and Patrick Rives},
title={BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={281-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002949702810288},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BEARING-ONLY SAM USING A MINIMAL INVERSE DEPTH PARAMETRIZATION - Application to Omnidirectional SLAM
SN - 978-989-8425-01-0
AU - Joly C.
AU - Rives P.
PY - 2010
SP - 281
EP - 288
DO - 10.5220/0002949702810288